{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Raster Scan Simulation Example"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Setup"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 125,
   "metadata": {},
   "outputs": [],
   "source": [
    "from datetime import datetime, timedelta\n",
    "start_time = datetime.now()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Radar system"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 126,
   "metadata": {},
   "outputs": [],
   "source": [
    "from mpar_sim.radar import PhasedArrayRadar\n",
    "from mpar_sim.beam.beam import RectangularBeam\n",
    "from mpar_sim.looks.look import Look\n",
    "# from mpar_sim.\n",
    "from stonesoup.types.array import StateVector\n",
    "\n",
    "radar = PhasedArrayRadar(\n",
    "  position=StateVector([0, 0, 0]),\n",
    "  position_mapping=(0, 2, 4),\n",
    "  rotation_offset=StateVector([0, 0, 0]),\n",
    "  # Array parameters\n",
    "  n_elements_x=16,\n",
    "  n_elements_y=16,\n",
    "  element_spacing=0.5, # Wavelengths\n",
    "  element_tx_power=10,\n",
    "  # System parameters\n",
    "  center_frequency=3e9,\n",
    "  system_temperature=290,\n",
    "  noise_figure=4,\n",
    "  # Scan settings\n",
    "  beam_shape=RectangularBeam,\n",
    "  field_of_view=90,\n",
    "  # Detection settings\n",
    "  false_alarm_rate=1e-6,\n",
    ")\n",
    "radar.timestamp = start_time"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Raster scan agent"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 127,
   "metadata": {},
   "outputs": [],
   "source": [
    "from mpar_sim.agents.raster_scan import RasterScanAgent\n",
    "import numpy as np\n",
    "\n",
    "agent = RasterScanAgent(\n",
    "    azimuth_scan_limits=np.array([-45, 45]),\n",
    "    elevation_scan_limits=np.array([-5, 5]),\n",
    "    azimuth_beam_spacing=0.85,\n",
    "    elevation_beam_spacing=0.85,\n",
    "    azimuth_beamwidth=15,\n",
    "    elevation_beamwidth=15,\n",
    "    bandwidth=100e6,\n",
    "    pulsewidth=1e-6,\n",
    "    prf=5e3,\n",
    "    n_pulses=100,\n",
    ")"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Tracker Components"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Create tracker"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 128,
   "metadata": {},
   "outputs": [],
   "source": [
    "from stonesoup.measures import Mahalanobis, Euclidean\n",
    "from stonesoup.hypothesiser.distance import DistanceHypothesiser\n",
    "from stonesoup.updater.kalman import ExtendedKalmanUpdater\n",
    "from stonesoup.predictor.kalman import KalmanPredictor\n",
    "from stonesoup.models.transition.linear import CombinedLinearGaussianTransitionModel, ConstantVelocity\n",
    "from stonesoup.gater.distance import DistanceGater\n",
    "\n",
    "# KF prediction model. Assuming it's matched to the true target model for now\n",
    "transition_model = CombinedLinearGaussianTransitionModel([\n",
    "    ConstantVelocity(1),\n",
    "    ConstantVelocity(1),\n",
    "    ConstantVelocity(0.0),\n",
    "])\n",
    "predictor = KalmanPredictor(transition_model)\n",
    "\n",
    "updater = ExtendedKalmanUpdater(measurement_model=None)\n",
    "\n",
    "hypothesizer = DistanceHypothesiser(\n",
    "    predictor, updater, measure=Mahalanobis(), missed_distance=100)\n",
    "gater = DistanceGater(hypothesizer, measure=Mahalanobis(), gate_threshold=15)\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Create the data associator"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 129,
   "metadata": {},
   "outputs": [],
   "source": [
    "from stonesoup.dataassociator.neighbour import GNNWith2DAssignment\n",
    "data_associator = GNNWith2DAssignment(gater)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Create the deleter"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 130,
   "metadata": {},
   "outputs": [],
   "source": [
    "from stonesoup.deleter.time import UpdateTimeStepsDeleter, UpdateTimeDeleter\n",
    "# deleter = UpdateTimeDeleter(timedelta(0.5))\n",
    "deleter = UpdateTimeStepsDeleter(int(1.5*agent.n_positions))"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Create the initiatoor"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 131,
   "metadata": {},
   "outputs": [],
   "source": [
    "# from mpar_sim.\n",
    "from stonesoup.types.state import GaussianState\n",
    "from stonesoup.initiator.simple import MultiMeasurementInitiator, SimpleMeasurementInitiator\n",
    "import numpy as np\n",
    "from mpar_sim.initiator.initators import MofNInitiator\n",
    "\n",
    "initiator = MultiMeasurementInitiator(\n",
    "    prior_state=GaussianState([0, 0, 0, 0, 0, 0], np.diag([0, 0, 0, 0, 0, 0])),\n",
    "    measurement_model=None,\n",
    "    deleter=deleter,\n",
    "    data_associator=data_associator,\n",
    "    updater=updater,\n",
    "    min_points=2,\n",
    ")"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Run the simulation"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 132,
   "metadata": {},
   "outputs": [],
   "source": [
    "from stonesoup.types.groundtruth import GroundTruthPath, GroundTruthState\n",
    "from stonesoup.types.array import CovarianceMatrix\n",
    "import random\n",
    "# Set the simulation seed\n",
    "# seed = 0\n",
    "# np.random.seed(seed)\n",
    "# random.seed(seed)\n",
    "\n",
    "# Simulation-level parameters\n",
    "n_steps = 100\n",
    "include_noise = True\n",
    "\n",
    "# Target generation parameters\n",
    "initial_state_mean = StateVector([0, 0, 0, 0, 0, 0])\n",
    "initial_state_covariance = CovarianceMatrix(np.diag([250, 10, 250, 10, 0, 0]))\n",
    "initial_state = GaussianState(initial_state_mean, initial_state_covariance)\n",
    "death_probability = 0.01\n",
    "birth_probability = 0.8\n",
    "target_rcs = 1\n",
    "\n",
    "\n",
    "truths = set()\n",
    "tracks = set()\n",
    "all_truths = []\n",
    "all_measurements = []\n",
    "all_tracks = set()\n",
    "\n",
    "time = start_time\n",
    "for istep in range(n_steps):\n",
    "  measurements = set()\n",
    "\n",
    "  for truth in truths.copy():\n",
    "    # Death to targets >:)\n",
    "    if np.random.rand() <= death_probability:\n",
    "      truths.remove(truth)\n",
    "\n",
    "  # Targets, be reborn!\n",
    "  for _ in range(np.random.poisson(birth_probability)):\n",
    "    # Sample an initial state from the mean and covariance defined above\n",
    "    state_vector = initial_state.state_vector + \\\n",
    "        initial_state.covar @ np.random.randn(initial_state.ndim, 1)\n",
    "    state = GroundTruthState(\n",
    "        state_vector=state_vector,\n",
    "        timestamp=time,\n",
    "    )\n",
    "    \n",
    "    # Give the target an RCS (constant for now)\n",
    "    state.rcs = target_rcs\n",
    "    # Add to the list of truths\n",
    "    truth = GroundTruthPath([state])\n",
    "    truths.add(truth)\n",
    "    all_truths.append(truth)\n",
    "\n",
    "  look = agent.act(current_time=time)\n",
    "  look.tx_power = 100e3\n",
    "  radar.load_look(look)\n",
    "  # Simulate detections\n",
    "  measurements |= radar.measure(truths, noise=include_noise)\n",
    "\n",
    "  # Update tracks\n",
    "  # Calculate all hypothesis pairs and associate the elements in the best subset to the tracks.\n",
    "  hypotheses = data_associator.associate(tracks,\n",
    "                                         measurements,\n",
    "                                         timestamp=time)\n",
    "  associated_measurements = set()\n",
    "  for track in tracks:\n",
    "    hypothesis = hypotheses[track]\n",
    "    if hypothesis.measurement:\n",
    "      post = updater.update(hypothesis)\n",
    "      track.append(post)\n",
    "      associated_measurements.add(hypothesis.measurement)\n",
    "    else:\n",
    "      # When data associator says no detections are good enough, we'll keep the prediction\n",
    "      track.append(hypothesis.prediction)\n",
    "\n",
    "  # Carry out deletion and initiation\n",
    "  tracks -= deleter.delete_tracks(tracks)\n",
    "  tracks |= initiator.initiate(\n",
    "      detections=measurements - associated_measurements,\n",
    "      timestamp=time)\n",
    "  \n",
    "\n",
    "  # Advance simulation time\n",
    "  # TODO: This gets more complicated when multiple tasks with different dwell times are scheduled\n",
    "  dt = timedelta(seconds=look.dwell_time)\n",
    "  time += dt\n",
    "\n",
    "  # Advance target positions\n",
    "  for truth in truths:\n",
    "    truth.append(GroundTruthState(\n",
    "        transition_model.function(truth[-1],\n",
    "                                  noise=include_noise,\n",
    "                                  time_interval=dt),\n",
    "        timestamp=time))\n",
    "    truth[-1].rcs = target_rcs\n",
    "    \n",
    "  # Save measurements and tracks for plotting\n",
    "  all_measurements.append(measurements)\n",
    "  all_tracks |= tracks\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Plot simulation results"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 133,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/vnd.plotly.v1+json": {
       "config": {
        "plotlyServerURL": "https://plot.ly"
       },
       "data": [
        {
         "legendgroup": "Radar",
         "legendrank": 50,
         "marker": {
          "color": "black",
          "symbol": "x"
         },
         "mode": "markers",
         "name": "Radar",
         "showlegend": true,
         "type": "scatter",
         "x": [
          0
         ],
         "y": [
          0
         ]
        },
        {
         "legendgroup": "Ground Truth",
         "legendrank": 100,
         "line": {
          "dash": "dash"
         },
         "mode": "lines",
         "name": "Ground Truth",
         "showlegend": true,
         "text": [
          "GroundTruthState<br>[[-62.05440858]\n [ -2.30147221]\n [ 27.95059199]\n [ -8.60308995]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.535240",
          "GroundTruthState<br>[[-62.097755  ]\n [ -2.04376496]\n [ 27.77796865]\n [ -8.65379314]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.555240",
          "GroundTruthState<br>[[-62.13727377]\n [ -1.95452927]\n [ 27.6028877 ]\n [ -8.7040145 ]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.575240",
          "GroundTruthState<br>[[-62.175301  ]\n [ -1.90252043]\n [ 27.42992047]\n [ -8.56590456]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.595240",
          "GroundTruthState<br>[[-62.2129413 ]\n [ -1.89373623]\n [ 27.26069386]\n [ -8.35610315]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.615240",
          "GroundTruthState<br>[[-62.25225267]\n [ -2.05577736]\n [ 27.09170866]\n [ -8.53613849]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.635240",
          "GroundTruthState<br>[[-62.29335413]\n [ -2.07678784]\n [ 26.91836051]\n [ -8.6060309 ]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.655240",
          "GroundTruthState<br>[[-62.33411203]\n [ -1.95815597]\n [ 26.7499757 ]\n [ -8.38872967]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.675240",
          "GroundTruthState<br>[[-62.3742635 ]\n [ -2.07775276]\n [ 26.5808797 ]\n [ -8.49112028]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.695240",
          "GroundTruthState<br>[[-62.41581191]\n [ -2.11441354]\n [ 26.40904728]\n [ -8.67854485]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.715240",
          "GroundTruthState<br>[[-62.45766301]\n [ -2.06987848]\n [ 26.23447206]\n [ -8.77435228]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.735240",
          "GroundTruthState<br>[[-62.49824456]\n [ -2.02850199]\n [ 26.06135465]\n [ -8.4915506 ]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.755240",
          "GroundTruthState<br>[[-62.5384776 ]\n [ -2.04504285]\n [ 25.89058808]\n [ -8.63631582]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.775240",
          "GroundTruthState<br>[[-62.57866927]\n [ -1.95098102]\n [ 25.7171504 ]\n [ -8.70336284]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.795240",
          "GroundTruthState<br>[[-62.61908267]\n [ -1.98074539]\n [ 25.54393696]\n [ -8.58366755]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.815240",
          "GroundTruthState<br>[[-62.65835004]\n [ -1.86876696]\n [ 25.37586025]\n [ -8.32905545]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.835240",
          "GroundTruthState<br>[[-62.69567248]\n [ -1.83264908]\n [ 25.20816276]\n [ -8.43924863]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.855240",
          "GroundTruthState<br>[[-62.732807  ]\n [ -1.88659736]\n [ 25.03885466]\n [ -8.57154   ]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.875240",
          "GroundTruthState<br>[[-62.77108423]\n [ -1.95411101]\n [ 24.86962559]\n [ -8.48772854]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.895240",
          "GroundTruthState<br>[[-62.80880565]\n [ -1.72542967]\n [ 24.69849098]\n [ -8.52706882]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.915240",
          "GroundTruthState<br>[[-62.84328954]\n [ -1.64905734]\n [ 24.52791151]\n [ -8.64490333]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.935240",
          "GroundTruthState<br>[[-62.87624788]\n [ -1.6670095 ]\n [ 24.35281164]\n [ -8.80579669]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.955240",
          "GroundTruthState<br>[[-62.91267497]\n [ -1.80062007]\n [ 24.17898636]\n [ -8.72938137]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.975240",
          "GroundTruthState<br>[[-62.95018276]\n [ -1.81094731]\n [ 24.00763404]\n [ -8.36602932]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.995240",
          "GroundTruthState<br>[[-62.98731291]\n [ -1.80831951]\n [ 23.83995957]\n [ -8.4204126 ]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.015240",
          "GroundTruthState<br>[[-63.02382449]\n [ -1.70765885]\n [ 23.67349105]\n [ -8.18325993]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.035240",
          "GroundTruthState<br>[[-63.055892  ]\n [ -1.5280887 ]\n [ 23.50856344]\n [ -8.17843338]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.055240",
          "GroundTruthState<br>[[-63.08666302]\n [ -1.48207   ]\n [ 23.34631428]\n [ -8.07032709]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.075240",
          "GroundTruthState<br>[[-63.11640465]\n [ -1.418925  ]\n [ 23.18530448]\n [ -8.02879651]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.095240",
          "GroundTruthState<br>[[-63.14599264]\n [ -1.56208378]\n [ 23.02387795]\n [ -8.10181999]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.115240",
          "GroundTruthState<br>[[-63.17844247]\n [ -1.70593586]\n [ 22.86249555]\n [ -8.19228782]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.135240",
          "GroundTruthState<br>[[-63.21354199]\n [ -1.78594304]\n [ 22.70328799]\n [ -7.83919175]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.155240",
          "GroundTruthState<br>[[-63.24967961]\n [ -1.80690878]\n [ 22.54639446]\n [ -7.79860318]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.175240",
          "GroundTruthState<br>[[-63.28749443]\n [ -2.08195867]\n [ 22.38866866]\n [ -7.96577482]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.195240",
          "GroundTruthState<br>[[-63.32801876]\n [ -1.94537056]\n [ 22.23445361]\n [ -7.54161   ]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.215240",
          "GroundTruthState<br>[[-63.36557551]\n [ -1.87239065]\n [ 22.08376995]\n [ -7.50529983]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.235240",
          "GroundTruthState<br>[[-63.40474145]\n [ -2.03532228]\n [ 21.93199704]\n [ -7.70197002]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.255240",
          "GroundTruthState<br>[[-63.44558805]\n [ -2.07935823]\n [ 21.77547211]\n [ -7.90260667]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.275240",
          "GroundTruthState<br>[[-63.48772002]\n [ -2.07290232]\n [ 21.61436319]\n [ -8.14988319]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.295240",
          "GroundTruthState<br>[[-63.53023446]\n [ -2.20801085]\n [ 21.452464  ]\n [ -8.06121138]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.315240",
          "GroundTruthState<br>[[-63.57474865]\n [ -2.21168231]\n [ 21.29047197]\n [ -7.97048504]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.335240",
          "GroundTruthState<br>[[-63.61953966]\n [ -2.12083982]\n [ 21.13189975]\n [ -7.85470601]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.355240",
          "GroundTruthState<br>[[-63.66279447]\n [ -2.31975202]\n [ 20.97298568]\n [ -7.99806087]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.375240",
          "GroundTruthState<br>[[-63.70953032]\n [ -2.44626184]\n [ 20.81229143]\n [ -7.96780044]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.395240",
          "GroundTruthState<br>[[-63.7570294 ]\n [ -2.34140276]\n [ 20.65316635]\n [ -7.98045804]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.415240",
          "GroundTruthState<br>[[-63.80450661]\n [ -2.37087528]\n [ 20.49201627]\n [ -8.0943874 ]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.435240",
          "GroundTruthState<br>[[-63.85069627]\n [ -2.37409423]\n [ 20.32931376]\n [ -8.15612408]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.455240",
          "GroundTruthState<br>[[-63.89976339]\n [ -2.49934863]\n [ 20.16721852]\n [ -8.06261376]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.475240",
          "GroundTruthState<br>[[-63.95104159]\n [ -2.56898451]\n [ 20.01098098]\n [ -7.6582423 ]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.495240",
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          "GroundTruthState<br>[[420.27536822]\n [  3.34305783]\n [-40.51497743]\n [ -6.77242439]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.895240",
          "GroundTruthState<br>[[420.34288388]\n [  3.38650291]\n [-40.64905532]\n [ -6.83729863]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.915240",
          "GroundTruthState<br>[[420.40938434]\n [  3.38794802]\n [-40.78599748]\n [ -6.96739742]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.935240",
          "GroundTruthState<br>[[420.47979592]\n [  3.69399955]\n [-40.92216634]\n [ -6.76643241]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.955240",
          "GroundTruthState<br>[[420.5555724 ]\n [  3.83320057]\n [-41.05823161]\n [ -6.92533875]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.975240",
          "GroundTruthState<br>[[420.63358358]\n [  3.98467579]\n [-41.1941847 ]\n [ -6.72205033]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:34.995240",
          "GroundTruthState<br>[[420.71326329]\n [  4.06359125]\n [-41.33260457]\n [ -7.09101607]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.015240",
          "GroundTruthState<br>[[420.79164819]\n [  3.82493739]\n [-41.47468481]\n [ -7.20093494]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.035240",
          "GroundTruthState<br>[[420.86567734]\n [  3.58378075]\n [-41.61764923]\n [ -7.13582443]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.055240",
          "GroundTruthState<br>[[420.93731426]\n [  3.59440018]\n [-41.76063838]\n [ -7.15945419]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.075240",
          "GroundTruthState<br>[[421.00853204]\n [  3.5853706 ]\n [-41.90338852]\n [ -7.20188837]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.095240",
          "GroundTruthState<br>[[421.08167309]\n [  3.67912366]\n [-42.04890679]\n [ -7.34024965]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.115240",
          "GroundTruthState<br>[[421.15281073]\n [  3.38146039]\n [-42.19510024]\n [ -7.34541532]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.135240",
          "GroundTruthState<br>[[421.22126587]\n [  3.49384404]\n [-42.34129013]\n [ -7.32266886]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.155240",
          "GroundTruthState<br>[[421.29367364]\n [  3.61657921]\n [-42.48640037]\n [ -7.31599468]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.175240",
          "GroundTruthState<br>[[421.36552919]\n [  3.61093784]\n [-42.63178561]\n [ -7.21448496]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.195240",
          "GroundTruthState<br>[[421.4364474 ]\n [  3.64927596]\n [-42.77493658]\n [ -7.1767125 ]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.215240",
          "GroundTruthState<br>[[421.50882543]\n [  3.67927388]\n [-42.92038682]\n [ -7.30513541]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.235240",
          "GroundTruthState<br>[[421.58449383]\n [  3.82191723]\n [-43.06419047]\n [ -7.18753424]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.255240",
          "GroundTruthState<br>[[421.66063565]\n [  3.83656266]\n [-43.20856799]\n [ -7.18358248]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.275240",
          "GroundTruthState<br>[[421.73808283]\n [  3.90232012]\n [-43.35437752]\n [ -7.31772505]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.295240",
          "GroundTruthState<br>[[421.81508793]\n [  3.7552812 ]\n [-43.50101343]\n [ -7.42968029]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.315240",
          "GroundTruthState<br>[[421.89003372]\n [  3.75160906]\n [-43.65176178]\n [ -7.62753893]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.335240",
          "GroundTruthState<br>[[421.96290688]\n [  3.52723957]\n [-43.80344597]\n [ -7.64496851]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.355240",
          "GroundTruthState<br>[[422.03487915]\n [  3.65562961]\n [-43.95381946]\n [ -7.52060096]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.375240",
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          "GroundTruthState<br>[[422.59255879]\n [  3.45862403]\n [-45.09237371]\n [ -6.72600542]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.535240",
          "GroundTruthState<br>[[422.66074077]\n [  3.32255976]\n [-45.22643466]\n [ -6.71808812]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.555240",
          "GroundTruthState<br>[[422.72712308]\n [  3.39485763]\n [-45.36309776]\n [ -6.92063947]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.575240",
          "GroundTruthState<br>[[422.79568895]\n [  3.67001232]\n [-45.50352084]\n [ -7.06428317]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.595240",
          "GroundTruthState<br>[[422.86967095]\n [  3.74228667]\n [-45.64749888]\n [ -7.3206535 ]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.615240",
          "GroundTruthState<br>[[422.94332525]\n [  3.62903944]\n [-45.79682222]\n [ -7.53262198]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.635240",
          "GroundTruthState<br>[[423.0163657 ]\n [  3.64656264]\n [-45.94559387]\n [ -7.5167443 ]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.655240",
          "GroundTruthState<br>[[423.09043396]\n [  3.71913246]\n [-46.09697096]\n [ -7.48874646]\n [  0.        ]\n [  0.        ]]<br>2022-11-17 10:19:35.675240",
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          "GroundTruthState<br>[[-330.99969323]\n [  18.2014625 ]\n [-199.51228249]\n [  14.98157323]\n [   0.        ]\n [   0.        ]]<br>2022-11-17 10:19:36.455240",
          "GroundTruthState<br>[[-330.637437  ]\n [  18.2187402 ]\n [-199.21216689]\n [  15.06211332]\n [   0.        ]\n [   0.        ]]<br>2022-11-17 10:19:36.475240",
          "GroundTruthState<br>[[-330.26942738]\n [  18.42490982]\n [-198.91114796]\n [  15.1132929 ]\n [   0.        ]\n [   0.        ]]<br>2022-11-17 10:19:36.495240",
          "GroundTruthState<br>[[-329.89974711]\n [  18.50613435]\n [-198.60875496]\n [  15.00542267]\n [   0.        ]\n [   0.        ]]<br>2022-11-17 10:19:36.515240"
         ],
         "type": "scatter",
         "x": [
          -330.9996932315762,
          -330.6374370031006,
          -330.2694273841764,
          -329.89974710829335
         ],
         "y": [
          -199.51228249485303,
          -199.21216688854213,
          -198.9111479580633,
          -198.6087549558019
         ]
        },
        {
         "legendgroup": "Ground Truth",
         "legendrank": 100,
         "line": {
          "dash": "dash"
         },
         "mode": "lines",
         "name": "Ground Truth",
         "showlegend": false,
         "text": [
          "GroundTruthState<br>[[ -54.98583146]\n [  -1.94117678]\n [-478.73711928]\n [   7.76360756]\n [   0.        ]\n [   0.        ]]<br>2022-11-17 10:19:36.455240",
          "GroundTruthState<br>[[ -55.02652511]\n [  -1.94371713]\n [-478.58093444]\n [   7.72158338]\n [   0.        ]\n [   0.        ]]<br>2022-11-17 10:19:36.475240",
          "GroundTruthState<br>[[ -55.06073085]\n [  -1.56597009]\n [-478.42495935]\n [   7.84569403]\n [   0.        ]\n [   0.        ]]<br>2022-11-17 10:19:36.495240",
          "GroundTruthState<br>[[ -55.09339225]\n [  -1.63778274]\n [-478.26805708]\n [   7.81805641]\n [   0.        ]\n [   0.        ]]<br>2022-11-17 10:19:36.515240"
         ],
         "type": "scatter",
         "x": [
          -54.98583145563401,
          -55.02652510508934,
          -55.06073085175632,
          -55.093392255
         ],
         "y": [
          -478.7371192825501,
          -478.58093444383735,
          -478.42495935136446,
          -478.26805708173634
         ]
        },
        {
         "legendgroup": "Measurements<br>(Detections)",
         "legendrank": 200,
         "marker": {
          "color": "#636EFA"
         },
         "mode": "markers",
         "name": "Measurements<br>(Detections)",
         "showlegend": true,
         "text": [
          "TrueDetection<br>[[Elevation(0.0017371301585105416)]\n [Bearing(0.31247228624851564)]\n [284.053353955]\n [-1.2491352416666668]]<br>2022-11-17 10:19:34.615240",
          "TrueDetection<br>[[Elevation(-0.0004736450756341881)]\n [Bearing(0.4981910353610899)]\n [375.490053645]\n [13.740487658333334]]<br>2022-11-17 10:19:34.635240",
          "TrueDetection<br>[[Elevation(-0.006441123583210917)]\n [Bearing(0.4641265475009373)]\n [384.483827385]\n [6.245676208333334]]<br>2022-11-17 10:19:34.775240",
          "TrueDetection<br>[[Elevation(0.0019908494761796953)]\n [Bearing(0.31521425864528974)]\n [284.053353955]\n [-1.2491352416666668]]<br>2022-11-17 10:19:34.775240",
          "TrueDetection<br>[[Elevation(-0.0004849536584643488)]\n [Bearing(0.4653510322647034)]\n [384.483827385]\n [6.245676208333334]]<br>2022-11-17 10:19:34.795240",
          "TrueDetection<br>[[Elevation(0.0034518987885076534)]\n [Bearing(0.5024685474084736)]\n [378.487978225]\n [13.740487658333334]]<br>2022-11-17 10:19:34.795240",
          "TrueDetection<br>[[Elevation(0.0045871288076764225)]\n [Bearing(-0.09616676524538015)]\n [421.95788463499997]\n [3.747405725]]<br>2022-11-17 10:19:34.895240",
          "TrueDetection<br>[[Elevation(-0.0013863316639977086)]\n [Bearing(0.45834494484099686)]\n [385.982789675]\n [6.245676208333334]]<br>2022-11-17 10:19:34.935240",
          "TrueDetection<br>[[Elevation(-0.006413140019042807)]\n [Bearing(0.4574169422483858)]\n [385.982789675]\n [6.245676208333334]]<br>2022-11-17 10:19:34.955240",
          "TrueDetection<br>[[Elevation(-0.0006170453598492998)]\n [Bearing(0.5086185314020115)]\n [379.98694051499996]\n [11.242217175]]<br>2022-11-17 10:19:34.955240",
          "TrueDetection<br>[[Elevation(-0.001934316085353771)]\n [Bearing(-0.6733510402073075)]\n [597.336472565]\n [8.743946691666666]]<br>2022-11-17 10:19:34.995240",
          "TrueDetection<br>[[Elevation(0.004235359324948127)]\n [Bearing(-0.6805403468376618)]\n [595.837510275]\n [8.743946691666666]]<br>2022-11-17 10:19:35.015240",
          "TrueDetection<br>[[Elevation(0.0002402060722580642)]\n [Bearing(-0.09781256885564726)]\n [423.456846925]\n [3.747405725]]<br>2022-11-17 10:19:35.055240",
          "TrueDetection<br>[[Elevation(0.00298747122403327)]\n [Bearing(0.014392897747854683)]\n [399.47345028499996]\n [16.23875814166667]]<br>2022-11-17 10:19:35.075240",
          "TrueDetection<br>[[Elevation(0.0032303779640526185)]\n [Bearing(0.45652362037527094)]\n [385.982789675]\n [6.245676208333334]]<br>2022-11-17 10:19:35.095240",
          "TrueDetection<br>[[Elevation(-0.0009639764796780526)]\n [Bearing(0.5028185279338957)]\n [381.48590280499997]\n [13.740487658333334]]<br>2022-11-17 10:19:35.115240",
          "TrueDetection<br>[[Elevation(-0.0008414473677476053)]\n [Bearing(0.45634783279893654)]\n [385.982789675]\n [6.245676208333334]]<br>2022-11-17 10:19:35.115240",
          "TrueDetection<br>[[Elevation(0.00130907034855726)]\n [Bearing(-0.6117659857180335)]\n [780.2098719449999]\n [-6.245676208333333]]<br>2022-11-17 10:19:35.155240",
          "TrueDetection<br>[[Elevation(0.0015845719282707499)]\n [Bearing(-0.6768264912766466)]\n [597.336472565]\n [8.743946691666666]]<br>2022-11-17 10:19:35.155240",
          "TrueDetection<br>[[Elevation(-0.0009063230248163023)]\n [Bearing(-0.6088592377646815)]\n [780.2098719449999]\n [-6.245676208333333]]<br>2022-11-17 10:19:35.175240",
          "TrueDetection<br>[[Elevation(0.0009554846343310576)]\n [Bearing(-0.6759452072833585)]\n [597.336472565]\n [8.743946691666666]]<br>2022-11-17 10:19:35.175240",
          "TrueDetection<br>[[Elevation(0.0009043677172323253)]\n [Bearing(-0.09900298183499778)]\n [423.456846925]\n [3.747405725]]<br>2022-11-17 10:19:35.215240",
          "TrueDetection<br>[[Elevation(0.0015279675456839833)]\n [Bearing(0.017297854562668746)]\n [400.97241257499996]\n [16.23875814166667]]<br>2022-11-17 10:19:35.235240",
          "TrueDetection<br>[[Elevation(0.000344975689262259)]\n [Bearing(0.4580539892304425)]\n [387.481751965]\n [6.245676208333334]]<br>2022-11-17 10:19:35.255240",
          "TrueDetection<br>[[Elevation(0.005112333374312225)]\n [Bearing(0.506852865279102)]\n [384.483827385]\n [13.740487658333334]]<br>2022-11-17 10:19:35.275240",
          "TrueDetection<br>[[Elevation(-0.0026418541023724984)]\n [Bearing(0.4498914861383345)]\n [387.481751965]\n [6.245676208333334]]<br>2022-11-17 10:19:35.275240",
          "TrueDetection<br>[[Elevation(-0.006046272264951469)]\n [Bearing(-0.6842006812186012)]\n [598.835434855]\n [8.743946691666666]]<br>2022-11-17 10:19:35.315240",
          "TrueDetection<br>[[Elevation(-0.001672343936765408)]\n [Bearing(-0.6801581127521441)]\n [598.835434855]\n [8.743946691666666]]<br>2022-11-17 10:19:35.335240",
          "TrueDetection<br>[[Elevation(0.004618841640975693)]\n [Bearing(-0.37965223674540916)]\n [296.045052275]\n [6.245676208333334]]<br>2022-11-17 10:19:35.355240",
          "TrueDetection<br>[[Elevation(-0.003969347342852814)]\n [Bearing(-0.10396586061821589)]\n [423.456846925]\n [3.747405725]]<br>2022-11-17 10:19:35.375240",
          "TrueDetection<br>[[Elevation(0.0004431048215055332)]\n [Bearing(0.021350700192423133)]\n [403.970337155]\n [16.23875814166667]]<br>2022-11-17 10:19:35.395240",
          "TrueDetection<br>[[Elevation(0.004203724232656528)]\n [Bearing(0.4485371265199656)]\n [387.481751965]\n [6.245676208333334]]<br>2022-11-17 10:19:35.415240",
          "TrueDetection<br>[[Elevation(-0.0018659125780384755)]\n [Bearing(0.5115403370174509)]\n [387.481751965]\n [13.740487658333334]]<br>2022-11-17 10:19:35.435240",
          "TrueDetection<br>[[Elevation(-0.002647340125202291)]\n [Bearing(0.4485752946518229)]\n [388.980714255]\n [6.245676208333334]]<br>2022-11-17 10:19:35.435240",
          "TrueDetection<br>[[Elevation(-0.0038786764698981457)]\n [Bearing(-0.6791882642299063)]\n [600.334397145]\n [8.743946691666666]]<br>2022-11-17 10:19:35.475240",
          "TrueDetection<br>[[Elevation(-0.003227867081718294)]\n [Bearing(-0.6868328832892718)]\n [600.334397145]\n [8.743946691666666]]<br>2022-11-17 10:19:35.495240",
          "TrueDetection<br>[[Elevation(-0.0026572684485017817)]\n [Bearing(-0.3831232249008232)]\n [296.045052275]\n [6.245676208333334]]<br>2022-11-17 10:19:35.515240",
          "TrueDetection<br>[[Elevation(0.003423748312267088)]\n [Bearing(-0.10592325579333162)]\n [424.955809215]\n [3.747405725]]<br>2022-11-17 10:19:35.535240",
          "TrueDetection<br>[[Elevation(0.001482263519303888)]\n [Bearing(0.020703110046470297)]\n [406.968261735]\n [16.23875814166667]]<br>2022-11-17 10:19:35.555240",
          "TrueDetection<br>[[Elevation(-0.0012558728636937744)]\n [Bearing(0.4472982595475745)]\n [388.980714255]\n [6.245676208333334]]<br>2022-11-17 10:19:35.575240",
          "TrueDetection<br>[[Elevation(-0.0017707133602495873)]\n [Bearing(0.516936375522211)]\n [388.980714255]\n [13.740487658333334]]<br>2022-11-17 10:19:35.595240",
          "TrueDetection<br>[[Elevation(9.301773221348689e-07)]\n [Bearing(0.4443768355115769)]\n [388.980714255]\n [6.245676208333334]]<br>2022-11-17 10:19:35.595240",
          "TrueDetection<br>[[Elevation(-0.0017191344810196796)]\n [Bearing(0.6174892325152639)]\n [201.610428005]\n [-16.23875814166667]]<br>2022-11-17 10:19:35.615240",
          "TrueDetection<br>[[Elevation(0.0005853653018485211)]\n [Bearing(-0.6809075786932532)]\n [601.8333594349999]\n [8.743946691666666]]<br>2022-11-17 10:19:35.635240",
          "TrueDetection<br>[[Elevation(-0.0015915250552946958)]\n [Bearing(-0.6776565869033848)]\n [601.8333594349999]\n [8.743946691666666]]<br>2022-11-17 10:19:35.655240",
          "TrueDetection<br>[[Elevation(0.002204524212437711)]\n [Bearing(-0.34807823445631314)]\n [273.560617925]\n [11.242217175]]<br>2022-11-17 10:19:35.675240",
          "TrueDetection<br>[[Elevation(0.0007669843999414784)]\n [Bearing(-0.3935213992758735)]\n [297.544014565]\n [6.245676208333334]]<br>2022-11-17 10:19:35.675240",
          "TrueDetection<br>[[Elevation(0.0004175635506797364)]\n [Bearing(-0.1106995359222056)]\n [424.955809215]\n [3.747405725]]<br>2022-11-17 10:19:35.695240",
          "TrueDetection<br>[[Elevation(0.00011192937714144125)]\n [Bearing(0.14536106293836593)]\n [341.01392097499996]\n [-8.743946691666668]]<br>2022-11-17 10:19:35.715240",
          "TrueDetection<br>[[Elevation(0.0005823383066352218)]\n [Bearing(0.023151795184630064)]\n [408.467224025]\n [16.23875814166667]]<br>2022-11-17 10:19:35.715240",
          "TrueDetection<br>[[Elevation(-0.0014625574149782494)]\n [Bearing(0.44005034088870465)]\n [390.47967654499996]\n [6.245676208333334]]<br>2022-11-17 10:19:35.735240",
          "TrueDetection<br>[[Elevation(0.0011536169710826716)]\n [Bearing(0.444477257814587)]\n [390.47967654499996]\n [6.245676208333334]]<br>2022-11-17 10:19:35.755240",
          "TrueDetection<br>[[Elevation(-0.0004031050693376059)]\n [Bearing(0.5193511982825396)]\n [390.47967654499996]\n [13.740487658333334]]<br>2022-11-17 10:19:35.755240",
          "TrueDetection<br>[[Elevation(0.0015013750314747786)]\n [Bearing(0.6201741433237933)]\n [198.612503425]\n [-18.737028625]]<br>2022-11-17 10:19:35.755240",
          "TrueDetection<br>[[Elevation(0.0005538307088885824)]\n [Bearing(0.6130842226975615)]\n [198.612503425]\n [-18.737028625]]<br>2022-11-17 10:19:35.775240",
          "TrueDetection<br>[[Elevation(0.003704071105973956)]\n [Bearing(-0.6850910978912261)]\n [601.8333594349999]\n [8.743946691666666]]<br>2022-11-17 10:19:35.795240",
          "TrueDetection<br>[[Elevation(-0.0005218588170583516)]\n [Bearing(-0.686202349931679)]\n [603.3323217249999]\n [6.245676208333334]]<br>2022-11-17 10:19:35.815240",
          "TrueDetection<br>[[Elevation(-0.0004502065337828043)]\n [Bearing(-0.3913380704984295)]\n [299.042976855]\n [6.245676208333334]]<br>2022-11-17 10:19:35.835240",
          "TrueDetection<br>[[Elevation(0.002000900393127624)]\n [Bearing(-0.3482485232760859)]\n [275.059580215]\n [11.242217175]]<br>2022-11-17 10:19:35.835240",
          "TrueDetection<br>[[Elevation(0.003954260891215945)]\n [Bearing(-0.10820729159855391)]\n [426.454771505]\n [3.747405725]]<br>2022-11-17 10:19:35.855240",
          "TrueDetection<br>[[Elevation(0.004728467790385879)]\n [Bearing(0.14479057018414032)]\n [339.514958685]\n [-8.743946691666668]]<br>2022-11-17 10:19:35.875240",
          "TrueDetection<br>[[Elevation(-0.0005933873684407232)]\n [Bearing(0.02106850455633147)]\n [411.46514860499997]\n [16.23875814166667]]<br>2022-11-17 10:19:35.875240",
          "TrueDetection<br>[[Elevation(-0.0003110568295658922)]\n [Bearing(0.015169976128144302)]\n [99.680992285]\n [-8.743946691666668]]<br>2022-11-17 10:19:35.875240",
          "TrueDetection<br>[[Elevation(0.0022193769993671167)]\n [Bearing(0.44115572252182256)]\n [390.47967654499996]\n [6.245676208333334]]<br>2022-11-17 10:19:35.895240",
          "TrueDetection<br>[[Elevation(0.0025615080669298502)]\n [Bearing(0.3324851017871522)]\n [275.059580215]\n [6.245676208333334]]<br>2022-11-17 10:19:35.895240",
          "TrueDetection<br>[[Elevation(0.0009877801886884676)]\n [Bearing(0.6281021121243264)]\n [195.61457884499998]\n [-18.737028625]]<br>2022-11-17 10:19:35.915240",
          "TrueDetection<br>[[Elevation(-0.0013459987981985222)]\n [Bearing(0.435207390434563)]\n [391.97863883499997]\n [6.245676208333334]]<br>2022-11-17 10:19:35.915240",
          "TrueDetection<br>[[Elevation(0.00347533174099011)]\n [Bearing(0.527895607164937)]\n [391.97863883499997]\n [13.740487658333334]]<br>2022-11-17 10:19:35.915240",
          "TrueDetection<br>[[Elevation(0.002067581394463417)]\n [Bearing(0.631454120992287)]\n [195.61457884499998]\n [-18.737028625]]<br>2022-11-17 10:19:35.935240",
          "TrueDetection<br>[[Elevation(-0.0013195092126174757)]\n [Bearing(-0.6916087620743121)]\n [603.3323217249999]\n [6.245676208333334]]<br>2022-11-17 10:19:35.955240",
          "TrueDetection<br>[[Elevation(0.001423155480603248)]\n [Bearing(-0.6873030217513216)]\n [603.3323217249999]\n [6.245676208333334]]<br>2022-11-17 10:19:35.975240",
          "TrueDetection<br>[[Elevation(-0.0008945000576083828)]\n [Bearing(-0.39653281836725585)]\n [299.042976855]\n [6.245676208333334]]<br>2022-11-17 10:19:35.995240",
          "TrueDetection<br>[[Elevation(-0.0011295960107196024)]\n [Bearing(-0.34804695256840645)]\n [276.558542505]\n [11.242217175]]<br>2022-11-17 10:19:35.995240",
          "TrueDetection<br>[[Elevation(-0.002416943301025043)]\n [Bearing(-0.11410005396510448)]\n [426.454771505]\n [3.747405725]]<br>2022-11-17 10:19:36.015240",
          "TrueDetection<br>[[Elevation(0.0008229651851426051)]\n [Bearing(-0.01296618048157594)]\n [99.680992285]\n [-8.743946691666668]]<br>2022-11-17 10:19:36.015240",
          "TrueDetection<br>[[Elevation(0.003682376457367871)]\n [Bearing(0.03921911196935346)]\n [275.059580215]\n [-8.743946691666668]]<br>2022-11-17 10:19:36.035240",
          "TrueDetection<br>[[Elevation(-0.0031815190740962507)]\n [Bearing(-0.014727126706360671)]\n [99.680992285]\n [-8.743946691666668]]<br>2022-11-17 10:19:36.035240",
          "TrueDetection<br>[[Elevation(0.0036308778075774726)]\n [Bearing(0.023035676060005006)]\n [414.463073185]\n [16.23875814166667]]<br>2022-11-17 10:19:36.035240",
          "TrueDetection<br>[[Elevation(-0.002243555325062374)]\n [Bearing(0.3405586002795027)]\n [276.558542505]\n [6.245676208333334]]<br>2022-11-17 10:19:36.055240",
          "TrueDetection<br>[[Elevation(0.005554500250736214)]\n [Bearing(0.4370136959333717)]\n [391.97863883499997]\n [6.245676208333334]]<br>2022-11-17 10:19:36.055240",
          "TrueDetection<br>[[Elevation(0.004290742702702351)]\n [Bearing(0.6344835528869321)]\n [192.616654265]\n [-18.737028625]]<br>2022-11-17 10:19:36.075240",
          "TrueDetection<br>[[Elevation(0.001519332220820838)]\n [Bearing(0.4399149045939619)]\n [391.97863883499997]\n [6.245676208333334]]<br>2022-11-17 10:19:36.075240",
          "TrueDetection<br>[[Elevation(0.0035555457315837764)]\n [Bearing(0.6317283413940142)]\n [192.616654265]\n [-18.737028625]]<br>2022-11-17 10:19:36.095240",
          "TrueDetection<br>[[Elevation(0.0018844603195779638)]\n [Bearing(-0.6941297317545416)]\n [604.8312840149999]\n [8.743946691666666]]<br>2022-11-17 10:19:36.115240",
          "TrueDetection<br>[[Elevation(0.0012586973090439441)]\n [Bearing(-0.6874372445117318)]\n [604.8312840149999]\n [8.743946691666666]]<br>2022-11-17 10:19:36.135240",
          "TrueDetection<br>[[Elevation(-0.0008437744063858332)]\n [Bearing(-0.39371571078377476)]\n [300.541939145]\n [8.743946691666666]]<br>2022-11-17 10:19:36.155240",
          "TrueDetection<br>[[Elevation(0.0025693058682488895)]\n [Bearing(-0.34623431653392034)]\n [279.556467085]\n [11.242217175]]<br>2022-11-17 10:19:36.155240",
          "TrueDetection<br>[[Elevation(-0.0013912758041065842)]\n [Bearing(-0.2328198293732857)]\n [577.849962795]\n [3.747405725]]<br>2022-11-17 10:19:36.155240",
          "TrueDetection<br>[[Elevation(-0.002381770610114131)]\n [Bearing(-0.04409975704131819)]\n [98.182029995]\n [-8.743946691666668]]<br>2022-11-17 10:19:36.175240",
          "TrueDetection<br>[[Elevation(-0.001596956401230365)]\n [Bearing(-0.22929178849470944)]\n [577.849962795]\n [3.747405725]]<br>2022-11-17 10:19:36.175240",
          "TrueDetection<br>[[Elevation(0.002980314076606586)]\n [Bearing(-0.11612805845355734)]\n [427.953733795]\n [3.747405725]]<br>2022-11-17 10:19:36.175240",
          "TrueDetection<br>[[Elevation(-0.005249302982957893)]\n [Bearing(0.01786256429959021)]\n [415.962035475]\n [13.740487658333334]]<br>2022-11-17 10:19:36.195240",
          "TrueDetection<br>[[Elevation(0.001953500386857952)]\n [Bearing(0.05137160760602244)]\n [273.560617925]\n [-8.743946691666668]]<br>2022-11-17 10:19:36.195240",
          "TrueDetection<br>[[Elevation(0.0036679764927638136)]\n [Bearing(0.42717494482097873)]\n [393.477601125]\n [6.245676208333334]]<br>2022-11-17 10:19:36.215240",
          "TrueDetection<br>[[Elevation(-0.0017510821316841785)]\n [Bearing(0.3374957426062961)]\n [276.558542505]\n [6.245676208333334]]<br>2022-11-17 10:19:36.215240",
          "TrueDetection<br>[[Elevation(-0.000712858218800072)]\n [Bearing(0.6365243724701592)]\n [191.11769197499999]\n [-18.737028625]]<br>2022-11-17 10:19:36.235240",
          "TrueDetection<br>[[Elevation(-0.001836913678208596)]\n [Bearing(0.43055686633748014)]\n [393.477601125]\n [8.743946691666666]]<br>2022-11-17 10:19:36.235240",
          "TrueDetection<br>[[Elevation(-0.0002990116063896764)]\n [Bearing(0.6421251763032001)]\n [189.618729685]\n [-18.737028625]]<br>2022-11-17 10:19:36.255240",
          "TrueDetection<br>[[Elevation(0.00223287090428945)]\n [Bearing(-0.6967860977907461)]\n [606.330246305]\n [8.743946691666666]]<br>2022-11-17 10:19:36.275240",
          "TrueDetection<br>[[Elevation(-0.0038826743536430897)]\n [Bearing(-0.6863165642244233)]\n [363.498355325]\n [-8.743946691666668]]<br>2022-11-17 10:19:36.275240",
          "TrueDetection<br>[[Elevation(0.0016669293551140009)]\n [Bearing(-0.6869020105933412)]\n [606.330246305]\n [8.743946691666666]]<br>2022-11-17 10:19:36.295240",
          "TrueDetection<br>[[Elevation(-0.0026660941291947182)]\n [Bearing(-0.6859962739336956)]\n [363.498355325]\n [-8.743946691666668]]<br>2022-11-17 10:19:36.295240",
          "TrueDetection<br>[[Elevation(-0.00410583087644234)]\n [Bearing(-0.2253368674158036)]\n [577.849962795]\n [1.2491352416666668]]<br>2022-11-17 10:19:36.315240",
          "TrueDetection<br>[[Elevation(0.0008830605685318949)]\n [Bearing(-0.3991532751703244)]\n [302.04090143499997]\n [8.743946691666666]]<br>2022-11-17 10:19:36.315240",
          "TrueDetection<br>[[Elevation(0.0007147616434839024)]\n [Bearing(-0.3494780767700849)]\n [279.556467085]\n [11.242217175]]<br>2022-11-17 10:19:36.315240",
          "TrueDetection<br>[[Elevation(-0.0025113620344354715)]\n [Bearing(-0.0735971641931461)]\n [96.683067705]\n [-8.743946691666668]]<br>2022-11-17 10:19:36.335240",
          "TrueDetection<br>[[Elevation(-0.004919154572856854)]\n [Bearing(-0.2254076182278082)]\n [577.849962795]\n [1.2491352416666668]]<br>2022-11-17 10:19:36.335240",
          "TrueDetection<br>[[Elevation(0.004254772343355006)]\n [Bearing(-0.11589619932137385)]\n [427.953733795]\n [3.747405725]]<br>2022-11-17 10:19:36.335240",
          "TrueDetection<br>[[Elevation(-0.001209594489093746)]\n [Bearing(0.0583780410809247)]\n [273.560617925]\n [-8.743946691666668]]<br>2022-11-17 10:19:36.355240",
          "TrueDetection<br>[[Elevation(-0.000879117717394351)]\n [Bearing(0.027156534586510794)]\n [418.95996005499995]\n [13.740487658333334]]<br>2022-11-17 10:19:36.355240",
          "TrueDetection<br>[[Elevation(-0.0019992078070822927)]\n [Bearing(0.2758570410097123)]\n [424.955809215]\n [-8.743946691666668]]<br>2022-11-17 10:19:36.375240",
          "TrueDetection<br>[[Elevation(0.0004441129754655517)]\n [Bearing(0.3415734790243321)]\n [278.057504795]\n [6.245676208333334]]<br>2022-11-17 10:19:36.375240",
          "TrueDetection<br>[[Elevation(-0.0003542491368069278)]\n [Bearing(0.4296427025021141)]\n [394.976563415]\n [6.245676208333334]]<br>2022-11-17 10:19:36.375240",
          "TrueDetection<br>[[Elevation(-0.0026273030220087534)]\n [Bearing(0.643909756836266)]\n [188.119767395]\n [-18.737028625]]<br>2022-11-17 10:19:36.395240",
          "TrueDetection<br>[[Elevation(-0.007568244910754807)]\n [Bearing(0.42471460977128883)]\n [394.976563415]\n [6.245676208333334]]<br>2022-11-17 10:19:36.395240",
          "TrueDetection<br>[[Elevation(-0.0016840219259766087)]\n [Bearing(0.6450124765536809)]\n [186.620805105]\n [-18.737028625]]<br>2022-11-17 10:19:36.415240",
          "TrueDetection<br>[[Elevation(0.0004957052958009671)]\n [Bearing(-0.7632589433298747)]\n [418.95996005499995]\n [6.245676208333334]]<br>2022-11-17 10:19:36.435240",
          "TrueDetection<br>[[Elevation(-0.0004246530529998793)]\n [Bearing(-0.6807484332188216)]\n [363.498355325]\n [-8.743946691666668]]<br>2022-11-17 10:19:36.435240",
          "TrueDetection<br>[[Elevation(-0.0015861935737593313)]\n [Bearing(-0.6796355107755128)]\n [361.99939303499997]\n [-8.743946691666668]]<br>2022-11-17 10:19:36.455240",
          "TrueDetection<br>[[Elevation(0.003326706394661112)]\n [Bearing(-0.5275215044565571)]\n [308.036750595]\n [-18.737028625]]<br>2022-11-17 10:19:36.455240",
          "TrueDetection<br>[[Elevation(0.005429412474647464)]\n [Bearing(-0.39862788704973307)]\n [303.539863725]\n [8.743946691666666]]<br>2022-11-17 10:19:36.475240",
          "TrueDetection<br>[[Elevation(0.0008289608812168433)]\n [Bearing(-0.22967836727126967)]\n [577.849962795]\n [1.2491352416666668]]<br>2022-11-17 10:19:36.475240",
          "TrueDetection<br>[[Elevation(0.00202602448437938)]\n [Bearing(-0.35427049154195167)]\n [282.55439166499997]\n [11.242217175]]<br>2022-11-17 10:19:36.475240",
          "TrueDetection<br>[[Elevation(-0.0013679150377550187)]\n [Bearing(-0.10111880875742552)]\n [95.184105415]\n [-8.743946691666668]]<br>2022-11-17 10:19:36.495240",
          "TrueDetection<br>[[Elevation(0.0025395883280106973)]\n [Bearing(-0.12172585692858462)]\n [429.45269608499996]\n [3.747405725]]<br>2022-11-17 10:19:36.495240",
          "TrueDetection<br>[[Elevation(-0.004901706672841399)]\n [Bearing(-0.2299574092654959)]\n [577.849962795]\n [1.2491352416666668]]<br>2022-11-17 10:19:36.495240"
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         "text": [
          "GaussianStateUpdate<br>[[ 3.29848596e+02]\n [ 1.20703079e+01]\n [ 1.79423110e+02]\n [-5.71704233e-03]\n [-1.77849008e-01]\n [ 6.56571669e+00]]<br>2022-11-17 10:19:34.635240",
          "GaussianStatePrediction<br>[[ 3.30090002e+02]\n [ 1.20703079e+01]\n [ 1.79422996e+02]\n [-5.71704233e-03]\n [-4.65346744e-02]\n [ 6.56571669e+00]]<br>2022-11-17 10:19:34.655240",
          "GaussianStatePrediction<br>[[ 3.30331408e+02]\n [ 1.20703079e+01]\n [ 1.79422882e+02]\n [-5.71704233e-03]\n [ 8.47796593e-02]\n [ 6.56571669e+00]]<br>2022-11-17 10:19:34.675240",
          "GaussianStatePrediction<br>[[ 3.30572814e+02]\n [ 1.20703079e+01]\n [ 1.79422767e+02]\n [-5.71704233e-03]\n [ 2.16093993e-01]\n [ 6.56571669e+00]]<br>2022-11-17 10:19:34.695240",
          "GaussianStatePrediction<br>[[ 3.30814220e+02]\n [ 1.20703079e+01]\n [ 1.79422653e+02]\n [-5.71704233e-03]\n [ 3.47408327e-01]\n [ 6.56571669e+00]]<br>2022-11-17 10:19:34.715240",
          "GaussianStatePrediction<br>[[ 3.31055627e+02]\n [ 1.20703079e+01]\n [ 1.79422539e+02]\n [-5.71704233e-03]\n [ 4.78722661e-01]\n [ 6.56571669e+00]]<br>2022-11-17 10:19:34.735240",
          "GaussianStatePrediction<br>[[ 3.31297033e+02]\n [ 1.20703079e+01]\n [ 1.79422424e+02]\n [-5.71704233e-03]\n [ 6.10036994e-01]\n [ 6.56571669e+00]]<br>2022-11-17 10:19:34.755240",
          "GaussianStatePrediction<br>[[ 3.31538439e+02]\n [ 1.20703079e+01]\n [ 1.79422310e+02]\n [-5.71704233e-03]\n [ 7.41351328e-01]\n [ 6.56571669e+00]]<br>2022-11-17 10:19:34.775240",
          "GaussianStateUpdate<br>[[331.86041219]\n [ 14.60098528]\n [180.90438298]\n [  1.37376763]\n [  1.08585636]\n [  6.56558442]]<br>2022-11-17 10:19:34.795240",
          "GaussianStatePrediction<br>[[332.1524319 ]\n [ 14.60098528]\n [180.93185833]\n [  1.37376763]\n [  1.21716804]\n [  6.56558442]]<br>2022-11-17 10:19:34.815240",
          "GaussianStatePrediction<br>[[332.4444516 ]\n [ 14.60098528]\n [180.95933368]\n [  1.37376763]\n [  1.34847973]\n [  6.56558442]]<br>2022-11-17 10:19:34.835240",
          "GaussianStatePrediction<br>[[332.73647131]\n [ 14.60098528]\n [180.98680903]\n [  1.37376763]\n [  1.47979142]\n [  6.56558442]]<br>2022-11-17 10:19:34.855240",
          "GaussianStatePrediction<br>[[333.02849101]\n [ 14.60098528]\n [181.01428439]\n [  1.37376763]\n [  1.61110311]\n [  6.56558442]]<br>2022-11-17 10:19:34.875240",
          "GaussianStatePrediction<br>[[333.32051072]\n [ 14.60098528]\n [181.04175974]\n [  1.37376763]\n [  1.7424148 ]\n [  6.56558442]]<br>2022-11-17 10:19:34.895240",
          "GaussianStatePrediction<br>[[333.61253043]\n [ 14.60098528]\n [181.06923509]\n [  1.37376763]\n [  1.87372649]\n [  6.56558442]]<br>2022-11-17 10:19:34.915240",
          "GaussianStatePrediction<br>[[333.90455013]\n [ 14.60098528]\n [181.09671044]\n [  1.37376763]\n [  2.00503817]\n [  6.56558442]]<br>2022-11-17 10:19:34.935240",
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          "GaussianStatePrediction<br>[[333.58748745]\n [ 12.7388409 ]\n [182.3804176 ]\n [  0.48321682]\n [  1.48885022]\n [  6.56557419]]<br>2022-11-17 10:19:34.975240",
          "GaussianStatePrediction<br>[[333.84226426]\n [ 12.7388409 ]\n [182.39008193]\n [  0.48321682]\n [  1.6201617 ]\n [  6.56557419]]<br>2022-11-17 10:19:34.995240",
          "GaussianStatePrediction<br>[[334.09704108]\n [ 12.7388409 ]\n [182.39974627]\n [  0.48321682]\n [  1.75147319]\n [  6.56557419]]<br>2022-11-17 10:19:35.015240",
          "GaussianStatePrediction<br>[[334.3518179 ]\n [ 12.7388409 ]\n [182.40941061]\n [  0.48321682]\n [  1.88278467]\n [  6.56557419]]<br>2022-11-17 10:19:35.035240",
          "GaussianStatePrediction<br>[[334.60659472]\n [ 12.7388409 ]\n [182.41907494]\n [  0.48321682]\n [  2.01409616]\n [  6.56557419]]<br>2022-11-17 10:19:35.055240",
          "GaussianStatePrediction<br>[[334.86137154]\n [ 12.7388409 ]\n [182.42873928]\n [  0.48321682]\n [  2.14540764]\n [  6.56557419]]<br>2022-11-17 10:19:35.075240",
          "GaussianStatePrediction<br>[[335.11614835]\n [ 12.7388409 ]\n [182.43840362]\n [  0.48321682]\n [  2.27671912]\n [  6.56557419]]<br>2022-11-17 10:19:35.095240",
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          "GaussianStatePrediction<br>[[335.80633919]\n [ 14.54639468]\n [182.92499012]\n [  1.55896158]\n [  1.9902299 ]\n [  6.5655663 ]]<br>2022-11-17 10:19:35.155240",
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          "GaussianStatePrediction<br>[[336.38819498]\n [ 14.54639468]\n [182.98734858]\n [  1.55896158]\n [  2.25285256]\n [  6.5655663 ]]<br>2022-11-17 10:19:35.195240",
          "GaussianStatePrediction<br>[[336.67912287]\n [ 14.54639468]\n [183.01852781]\n [  1.55896158]\n [  2.38416388]\n [  6.5655663 ]]<br>2022-11-17 10:19:35.215240",
          "GaussianStatePrediction<br>[[336.97005076]\n [ 14.54639468]\n [183.04970704]\n [  1.55896158]\n [  2.51547521]\n [  6.5655663 ]]<br>2022-11-17 10:19:35.235240",
          "GaussianStatePrediction<br>[[337.26097866]\n [ 14.54639468]\n [183.08088628]\n [  1.55896158]\n [  2.64678654]\n [  6.5655663 ]]<br>2022-11-17 10:19:35.255240",
          "GaussianStateUpdate<br>[[337.25657726]\n [ 14.53967569]\n [183.89126416]\n [  1.93135342]\n [  2.6161517 ]\n [  6.56555907]]<br>2022-11-17 10:19:35.275240",
          "GaussianStatePrediction<br>[[337.54737077]\n [ 14.53967569]\n [183.92989122]\n [  1.93135342]\n [  2.74746288]\n [  6.56555907]]<br>2022-11-17 10:19:35.295240",
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          "GaussianStatePrediction<br>[[338.1289578 ]\n [ 14.53967569]\n [184.00714536]\n [  1.93135342]\n [  3.01008524]\n [  6.56555907]]<br>2022-11-17 10:19:35.335240",
          "GaussianStatePrediction<br>[[338.41975131]\n [ 14.53967569]\n [184.04577243]\n [  1.93135342]\n [  3.14139642]\n [  6.56555907]]<br>2022-11-17 10:19:35.355240",
          "GaussianStatePrediction<br>[[338.71054483]\n [ 14.53967569]\n [184.0843995 ]\n [  1.93135342]\n [  3.2727076 ]\n [  6.56555907]]<br>2022-11-17 10:19:35.375240",
          "GaussianStatePrediction<br>[[339.00133834]\n [ 14.53967569]\n [184.12302657]\n [  1.93135342]\n [  3.40401879]\n [  6.56555907]]<br>2022-11-17 10:19:35.395240",
          "GaussianStatePrediction<br>[[339.29213185]\n [ 14.53967569]\n [184.16165363]\n [  1.93135342]\n [  3.53532997]\n [  6.56555907]]<br>2022-11-17 10:19:35.415240",
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          "GaussianStatePrediction<br>[[ 4.21248620e+02]\n [ 3.77207287e+00]\n [-4.09318531e+01]\n [ 9.19305188e-03]\n [ 9.71490089e-01]\n [-3.59770513e-01]]<br>2022-11-17 10:19:35.115240",
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          "GaussianStatePrediction<br>[[ 4.21474944e+02]\n [ 3.77207287e+00]\n [-4.09313016e+01]\n [ 9.19305188e-03]\n [ 9.49903858e-01]\n [-3.59770513e-01]]<br>2022-11-17 10:19:35.175240",
          "GaussianStatePrediction<br>[[ 4.21550386e+02]\n [ 3.77207287e+00]\n [-4.09311177e+01]\n [ 9.19305188e-03]\n [ 9.42708448e-01]\n [-3.59770513e-01]]<br>2022-11-17 10:19:35.195240",
          "GaussianStateUpdate<br>[[ 4.21544667e+02]\n [ 3.76326186e+00]\n [-4.12397619e+01]\n [-1.22910369e-02]\n [ 7.53273325e-01]\n [-3.59775098e-01]]<br>2022-11-17 10:19:35.215240",
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          "GaussianStatePrediction<br>[[ 4.22123737e+02]\n [ 3.73970877e+00]\n [-4.19493600e+01]\n [-1.63433736e-01]\n [ 8.61711913e-02]\n [-3.59792048e-01]]<br>2022-11-17 10:19:35.435240",
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          "GaussianStatePrediction<br>[[ 4.23405232e+02]\n [ 3.65424140e+00]\n [-4.37192674e+01]\n [-1.06924806e+00]\n [ 2.11685622e-01]\n [-3.59783915e-01]]<br>2022-11-17 10:19:35.815240",
          "GaussianStatePrediction<br>[[ 4.23478317e+02]\n [ 3.65424140e+00]\n [-4.37406523e+01]\n [-1.06924806e+00]\n [ 2.04489944e-01]\n [-3.59783915e-01]]<br>2022-11-17 10:19:35.835240",
          "GaussianStateUpdate<br>[[ 4.23606786e+02]\n [ 3.62175247e+00]\n [-4.42572148e+01]\n [-1.50799172e+00]\n [ 4.06194469e-01]\n [-3.59773495e-01]]<br>2022-11-17 10:19:35.855240",
          "GaussianStatePrediction<br>[[ 4.23679221e+02]\n [ 3.62175247e+00]\n [-4.42873746e+01]\n [-1.50799172e+00]\n [ 3.98998999e-01]\n [-3.59773495e-01]]<br>2022-11-17 10:19:35.875240",
          "GaussianStatePrediction<br>[[ 4.23751656e+02]\n [ 3.62175247e+00]\n [-4.43175345e+01]\n [-1.50799172e+00]\n [ 3.91803529e-01]\n [-3.59773495e-01]]<br>2022-11-17 10:19:35.895240",
          "GaussianStatePrediction<br>[[ 4.23824091e+02]\n [ 3.62175247e+00]\n [-4.43476943e+01]\n [-1.50799172e+00]\n [ 3.84608059e-01]\n [-3.59773495e-01]]<br>2022-11-17 10:19:35.915240",
          "GaussianStatePrediction<br>[[ 4.23896526e+02]\n [ 3.62175247e+00]\n [-4.43778541e+01]\n [-1.50799172e+00]\n [ 3.77412589e-01]\n [-3.59773495e-01]]<br>2022-11-17 10:19:35.935240",
          "GaussianStatePrediction<br>[[ 4.23968961e+02]\n [ 3.62175247e+00]\n [-4.44080140e+01]\n [-1.50799172e+00]\n [ 3.70217119e-01]\n [-3.59773495e-01]]<br>2022-11-17 10:19:35.955240",
          "GaussianStatePrediction<br>[[ 4.24041396e+02]\n [ 3.62175247e+00]\n [-4.44381738e+01]\n [-1.50799172e+00]\n [ 3.63021649e-01]\n [-3.59773495e-01]]<br>2022-11-17 10:19:35.975240",
          "GaussianStatePrediction<br>[[ 4.24113831e+02]\n [ 3.62175247e+00]\n [-4.44683336e+01]\n [-1.50799172e+00]\n [ 3.55826179e-01]\n [-3.59773495e-01]]<br>2022-11-17 10:19:35.995240",
          "GaussianStateUpdate<br>[[ 4.24083306e+02]\n [ 3.50577970e+00]\n [-4.54182885e+01]\n [-2.47891249e+00]\n [ 1.78086647e-01]\n [-3.59774180e-01]]<br>2022-11-17 10:19:36.015240",
          "GaussianStatePrediction<br>[[ 4.24153422e+02]\n [ 3.50577970e+00]\n [-4.54678667e+01]\n [-2.47891249e+00]\n [ 1.70891163e-01]\n [-3.59774180e-01]]<br>2022-11-17 10:19:36.035240",
          "GaussianStatePrediction<br>[[ 4.24223537e+02]\n [ 3.50577970e+00]\n [-4.55174450e+01]\n [-2.47891249e+00]\n [ 1.63695680e-01]\n [-3.59774180e-01]]<br>2022-11-17 10:19:36.055240",
          "GaussianStatePrediction<br>[[ 4.24293653e+02]\n [ 3.50577970e+00]\n [-4.55670232e+01]\n [-2.47891249e+00]\n [ 1.56500196e-01]\n [-3.59774180e-01]]<br>2022-11-17 10:19:36.075240",
          "GaussianStatePrediction<br>[[ 4.24363768e+02]\n [ 3.50577970e+00]\n [-4.56166015e+01]\n [-2.47891249e+00]\n [ 1.49304713e-01]\n [-3.59774180e-01]]<br>2022-11-17 10:19:36.095240",
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          "GaussianStatePrediction<br>[[ 4.24504000e+02]\n [ 3.50577970e+00]\n [-4.57157580e+01]\n [-2.47891249e+00]\n [ 1.34913745e-01]\n [-3.59774180e-01]]<br>2022-11-17 10:19:36.135240",
          "GaussianStatePrediction<br>[[ 4.24574115e+02]\n [ 3.50577970e+00]\n [-4.57653362e+01]\n [-2.47891249e+00]\n [ 1.27718262e-01]\n [-3.59774180e-01]]<br>2022-11-17 10:19:36.155240",
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          "GaussianStatePrediction<br>[[ 4.24731241e+02]\n [ 3.40329495e+00]\n [-4.68060882e+01]\n [-3.49251111e+00]\n [ 2.38702959e-01]\n [-3.59764926e-01]]<br>2022-11-17 10:19:36.195240",
          "GaussianStatePrediction<br>[[ 4.24799307e+02]\n [ 3.40329495e+00]\n [-4.68759384e+01]\n [-3.49251111e+00]\n [ 2.31507661e-01]\n [-3.59764926e-01]]<br>2022-11-17 10:19:36.215240",
          "GaussianStatePrediction<br>[[ 4.24867373e+02]\n [ 3.40329495e+00]\n [-4.69457887e+01]\n [-3.49251111e+00]\n [ 2.24312362e-01]\n [-3.59764926e-01]]<br>2022-11-17 10:19:36.235240",
          "GaussianStatePrediction<br>[[ 4.24935439e+02]\n [ 3.40329495e+00]\n [-4.70156389e+01]\n [-3.49251111e+00]\n [ 2.17117064e-01]\n [-3.59764926e-01]]<br>2022-11-17 10:19:36.255240",
          "GaussianStatePrediction<br>[[ 4.25003505e+02]\n [ 3.40329495e+00]\n [-4.70854891e+01]\n [-3.49251111e+00]\n [ 2.09921765e-01]\n [-3.59764926e-01]]<br>2022-11-17 10:19:36.275240",
          "GaussianStatePrediction<br>[[ 4.25071571e+02]\n [ 3.40329495e+00]\n [-4.71553393e+01]\n [-3.49251111e+00]\n [ 2.02726467e-01]\n [-3.59764926e-01]]<br>2022-11-17 10:19:36.295240",
          "GaussianStatePrediction<br>[[ 4.25139636e+02]\n [ 3.40329495e+00]\n [-4.72251895e+01]\n [-3.49251111e+00]\n [ 1.95531168e-01]\n [-3.59764926e-01]]<br>2022-11-17 10:19:36.315240",
          "GaussianStateUpdate<br>[[ 4.25161114e+02]\n [ 3.31088686e+00]\n [-4.78632293e+01]\n [-4.13550628e+00]\n [ 3.49228181e-01]\n [-3.59762908e-01]]<br>2022-11-17 10:19:36.335240",
          "GaussianStatePrediction<br>[[ 4.25227332e+02]\n [ 3.31088686e+00]\n [-4.79459394e+01]\n [-4.13550628e+00]\n [ 3.42032923e-01]\n [-3.59762908e-01]]<br>2022-11-17 10:19:36.355240",
          "GaussianStatePrediction<br>[[ 4.25293549e+02]\n [ 3.31088686e+00]\n [-4.80286495e+01]\n [-4.13550628e+00]\n [ 3.34837665e-01]\n [-3.59762908e-01]]<br>2022-11-17 10:19:36.375240",
          "GaussianStatePrediction<br>[[ 4.25359767e+02]\n [ 3.31088686e+00]\n [-4.81113596e+01]\n [-4.13550628e+00]\n [ 3.27642407e-01]\n [-3.59762908e-01]]<br>2022-11-17 10:19:36.395240",
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          "GaussianStatePrediction<br>[[ 4.25492203e+02]\n [ 3.31088686e+00]\n [-4.82767799e+01]\n [-4.13550628e+00]\n [ 3.13251891e-01]\n [-3.59762908e-01]]<br>2022-11-17 10:19:36.435240",
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          "GaussianStatePrediction<br>[[ 4.25624638e+02]\n [ 3.31088686e+00]\n [-4.84422001e+01]\n [-4.13550628e+00]\n [ 2.98861374e-01]\n [-3.59762908e-01]]<br>2022-11-17 10:19:36.475240",
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          "GaussianStatePrediction<br>[[2.60971936e+02]\n [6.47859858e+00]\n [9.10883286e+01]\n [2.41908056e-01]\n [2.50224281e-01]\n [2.03873225e+00]]<br>2022-11-17 10:19:36.075240",
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          "GaussianStatePrediction<br>[[2.61360651e+02]\n [6.47859858e+00]\n [9.11028430e+01]\n [2.41908056e-01]\n [3.72548215e-01]\n [2.03873225e+00]]<br>2022-11-17 10:19:36.135240",
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          "GaussianStatePrediction<br>[[2.61619795e+02]\n [6.47859858e+00]\n [9.11125194e+01]\n [2.41908056e-01]\n [4.54097505e-01]\n [2.03873225e+00]]<br>2022-11-17 10:19:36.175240",
          "GaussianStatePrediction<br>[[2.61749367e+02]\n [6.47859858e+00]\n [9.11173575e+01]\n [2.41908056e-01]\n [4.94872150e-01]\n [2.03873225e+00]]<br>2022-11-17 10:19:36.195240",
          "GaussianStateUpdate<br>[[2.61573466e+02]\n [6.49949034e+00]\n [9.12706128e+01]\n [2.87777951e-01]\n [2.01256216e-01]\n [2.03873026e+00]]<br>2022-11-17 10:19:36.215240",
          "GaussianStatePrediction<br>[[2.61703456e+02]\n [6.49949034e+00]\n [9.12763684e+01]\n [2.87777951e-01]\n [2.42030821e-01]\n [2.03873026e+00]]<br>2022-11-17 10:19:36.235240",
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          "GaussianStatePrediction<br>[[261.96343578]\n [  6.49949034]\n [ 91.28787951]\n [  0.28777795]\n [  0.32358003]\n [  2.03873026]]<br>2022-11-17 10:19:36.275240",
          "GaussianStatePrediction<br>[[262.09342558]\n [  6.49949034]\n [ 91.29363507]\n [  0.28777795]\n [  0.36435464]\n [  2.03873026]]<br>2022-11-17 10:19:36.295240",
          "GaussianStatePrediction<br>[[262.22341539]\n [  6.49949034]\n [ 91.29939063]\n [  0.28777795]\n [  0.40512924]\n [  2.03873026]]<br>2022-11-17 10:19:36.315240",
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          "GaussianStatePrediction<br>[[351.07935628]\n [  7.305794  ]\n [169.60827218]\n [ -0.77691334]\n [  0.91165901]\n [  2.79337903]]<br>2022-11-17 10:19:35.675240",
          "GaussianStatePrediction<br>[[351.22547216]\n [  7.305794  ]\n [169.59273391]\n [ -0.77691334]\n [  0.96752659]\n [  2.79337903]]<br>2022-11-17 10:19:35.695240",
          "GaussianStatePrediction<br>[[351.37158804]\n [  7.305794  ]\n [169.57719564]\n [ -0.77691334]\n [  1.02339417]\n [  2.79337903]]<br>2022-11-17 10:19:35.715240",
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          "GaussianStatePrediction<br>[[4.07001734e+02]\n [1.62417509e+01]\n [7.46583026e+00]\n [1.92503136e-01]\n [7.10491579e-01]\n [2.33689884e-01]]<br>2022-11-17 10:19:35.575240",
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          "GaussianStatePrediction<br>[[4.07651404e+02]\n [1.62417509e+01]\n [7.47353038e+00]\n [1.92503136e-01]\n [7.19839175e-01]\n [2.33689884e-01]]<br>2022-11-17 10:19:35.615240",
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          "GaussianStatePrediction<br>[[4.13895602e+02]\n [1.62258950e+01]\n [8.19843235e+00]\n [5.07519148e-01]\n [5.66662622e-01]\n [2.33676730e-01]]<br>2022-11-17 10:19:36.015240",
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           "showlakes": true,
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           "subunitcolor": "white"
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          "hoverlabel": {
           "align": "left"
          },
          "hovermode": "closest",
          "mapbox": {
           "style": "light"
          },
          "paper_bgcolor": "white",
          "plot_bgcolor": "#E5ECF6",
          "polar": {
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            "gridcolor": "white",
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           },
           "bgcolor": "#E5ECF6",
           "radialaxis": {
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            "linecolor": "white",
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           }
          },
          "scene": {
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            "gridcolor": "white",
            "gridwidth": 2,
            "linecolor": "white",
            "showbackground": true,
            "ticks": "",
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           },
           "yaxis": {
            "backgroundcolor": "#E5ECF6",
            "gridcolor": "white",
            "gridwidth": 2,
            "linecolor": "white",
            "showbackground": true,
            "ticks": "",
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           },
           "zaxis": {
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            "gridwidth": 2,
            "linecolor": "white",
            "showbackground": true,
            "ticks": "",
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          },
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            "color": "#2a3f5f"
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          },
          "ternary": {
           "aaxis": {
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            "linecolor": "white",
            "ticks": ""
           },
           "baxis": {
            "gridcolor": "white",
            "linecolor": "white",
            "ticks": ""
           },
           "bgcolor": "#E5ECF6",
           "caxis": {
            "gridcolor": "white",
            "linecolor": "white",
            "ticks": ""
           }
          },
          "title": {
           "x": 0.05
          },
          "xaxis": {
           "automargin": true,
           "gridcolor": "white",
           "linecolor": "white",
           "ticks": "",
           "title": {
            "standoff": 15
           },
           "zerolinecolor": "white",
           "zerolinewidth": 2
          },
          "yaxis": {
           "automargin": true,
           "gridcolor": "white",
           "linecolor": "white",
           "ticks": "",
           "title": {
            "standoff": 15
           },
           "zerolinecolor": "white",
           "zerolinewidth": 2
          }
         }
        },
        "xaxis": {
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          "text": "<i>x</i>"
         }
        },
        "yaxis": {
         "scaleanchor": "x",
         "scaleratio": 1,
         "title": {
          "text": "<i>y</i>"
         }
        }
       }
      }
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "from stonesoup.plotter import Plotterly\n",
    "\n",
    "plotter = Plotterly()\n",
    "plotter.plot_sensors(radar, \"Radar\")\n",
    "plotter.plot_ground_truths(all_truths, [0, 2])\n",
    "plotter.plot_measurements(all_measurements, [0, 2])\n",
    "plotter.plot_tracks(all_tracks, [0,2])\n",
    "\n",
    "plotter.fig"
   ]
  }
 ],
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